Dynamic Manipulation of a Cloth by High-Speed Robot System Using High-Speed Visual Feedback
نویسندگان
چکیده
In this paper, we propose an entirely new strategy for dynamic manipulation of sheet-like flexible objects. As one example, we consider dynamic folding of a cloth by a highspeed robot system consisting of two high-speed multifingered hands mounted on two sliders and a high-speed vision system. First, the dynamic folding performed by a human subject is analyzed in order to extract the necessary motion for this task. Second, a model of a sheetlike flexible object is proposed by extending a linear flexible object model (algebraic equation) using high-speed motion. Third, motion planning of the robot system is performed by using the proposed model, and the simulation result of the dynamic folding is shown. Fourth, high-speed visual feedback control is proposed in order to enhance the manipulation strategy. Finally, experimental results of the dynamic folding of the cloth by the high-speed robot system are shown.
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